#!/bin/sh
#
# @name BabyShark VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
#
# @output MAIN1 Ailerons
# @output MAIN2 A-tail left
# @output MAIN3 Pusher motor
# @output MAIN4 A-tail right
# @output MAIN5 motor 1
# @output MAIN6 motor 2
# @output MAIN7 motor 3
# @output MAIN8 motor 4

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then
	param set FW_AIRSPD_MAX   28
	param set FW_AIRSPD_MIN   17
	param set FW_AIRSPD_TRIM  23
	param set FW_CLMBOUT_DIFF 0.1
	param set FW_L1_R_SLEW_MAX 40
	param set FW_LND_EARLYCFG 1
	param set FW_P_LIM_MAX 25
	param set FW_P_LIM_MIN -25
	param set FW_R_LIM 35
	param set FW_THR_CRUISE 0.7
	param set FW_THR_MIN 0.25
	param set FW_THR_SLEW_MAX 0.6
	param set FW_T_HRATE_FF 0

	param set IMU_GYRO_CUTOFF 40

	param set MC_DTERM_CUTOFF 15
	param set MC_PITCHRATE_MAX 60
	param set MC_ROLLRATE_MAX 60
	param set MC_YAWRATE_I 0.15
	param set MC_YAWRATE_MAX 40
	param set MC_YAWRATE_P 0.3

	param set MPC_MAN_TILT_MAX 25
	param set MPC_MAN_Y_MAX 40
	param set MPC_SPOOLUP_TIME 2
	param set MPC_THR_HOVER 0.45
	param set MPC_TILTMAX_AIR 25
	param set MPC_TKO_RAMP_T0.8
	param set MPC_VEL_MANUAL 3
	param set MPC_XY_VEL_MAX 3.5
	param set MPC_Z_VEL_MAX_UP 2
	param set MPC_YAWRAUTO_MAX 40

	param set PWM_MAIN_DIS3 1000
	param set PWM_MAIN_MIN3 1120
	param set PWM_MIN 950

	param set V19_VT_ROLLDIR 0

	param set VT_ARSP_TRANS 19
	param set VT_B_TRANS_DUR 9
	param set VT_ELEV_MC_LOCK 0
	param set VT_FWD_THRUST_SC 1.2
	param set VT_FW_MOT_OFFID 5678
	param set VT_F_TRANS_DUR 8
	param set VT_F_TRANS_THR 0.85
	param set VT_F_TR_OL_TM 7
	param set VT_IDLE_PWM_MC 1000
	param set VT_MOT_COUNT 8
	param set VT_PSHER_RMP_DT 2
	param set VT_TRANS_MIN_TM 6
	param set VT_TYPE 2

fi

set MAV_TYPE 22

set MIXER babyshark
set MIXER_AUX pass

set PWM_OUT 5678
